diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
index 916e5240889..be83000bd4c 100644
--- a/nav2_amcl/CMakeLists.txt
+++ b/nav2_amcl/CMakeLists.txt
@@ -22,6 +22,9 @@ include_directories(
   include
 )
 
+include(CheckSymbolExists)
+check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
+
 add_subdirectory(src/pf)
 add_subdirectory(src/map)
 add_subdirectory(src/motion_model)
@@ -39,6 +42,11 @@ add_library(${library_name} SHARED
   src/amcl_node.cpp
 )
 
+target_include_directories(${library_name} PRIVATE src/include)
+if(HAVE_DRAND48)
+  target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
+endif()
+
 set(dependencies
   rclcpp
   rclcpp_lifecycle
@@ -70,9 +78,13 @@ target_link_libraries(${library_name}
   map_lib motions_lib sensors_lib
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index cc99e323ff2..fd17347dc07 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -48,6 +48,8 @@
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
 
+#include "portable_utils.h"
+
 using namespace std::placeholders;
 using namespace std::chrono_literals;
 
diff --git a/nav2_amcl/src/include/portable_utils.h b/nav2_amcl/src/include/portable_utils.h
new file mode 100644
index 00000000000..1577e6875b1
--- /dev/null
+++ b/nav2_amcl/src/include/portable_utils.h
@@ -0,0 +1,28 @@
+#ifndef PORTABLE_UTILS_H
+#define PORTABLE_UTILS_H
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef HAVE_DRAND48
+// Some system (e.g., Windows) doesn't come with drand48(), srand48().
+// Use rand, and srand for such system.
+static double drand48(void)
+{
+  return ((double)rand()) / RAND_MAX;
+}
+
+static void srand48(long int seedval)
+{
+  srand(seedval);
+}
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/nav2_amcl/src/map/CMakeLists.txt b/nav2_amcl/src/map/CMakeLists.txt
index 7017eb494ad..602629f9fd8 100644
--- a/nav2_amcl/src/map/CMakeLists.txt
+++ b/nav2_amcl/src/map/CMakeLists.txt
@@ -10,5 +10,5 @@ install(TARGETS
   map_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/motion_model/CMakeLists.txt b/nav2_amcl/src/motion_model/CMakeLists.txt
index 88ed7c70e5b..6322ad98702 100644
--- a/nav2_amcl/src/motion_model/CMakeLists.txt
+++ b/nav2_amcl/src/motion_model/CMakeLists.txt
@@ -12,5 +12,5 @@ install(TARGETS
   motions_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/pf/CMakeLists.txt b/nav2_amcl/src/pf/CMakeLists.txt
index b277cc93786..c6f16e6a7dc 100644
--- a/nav2_amcl/src/pf/CMakeLists.txt
+++ b/nav2_amcl/src/pf/CMakeLists.txt
@@ -11,9 +11,14 @@ add_library(pf_lib SHARED
   pf_draw.c
 )
 
+target_include_directories(pf_lib PRIVATE ../include)
+if(HAVE_DRAND48)
+  target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
+endif()
+
 install(TARGETS
   pf_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/pf/eig3.c b/nav2_amcl/src/pf/eig3.c
index 8b290c8abc0..a87354dbc8b 100644
--- a/nav2_amcl/src/pf/eig3.c
+++ b/nav2_amcl/src/pf/eig3.c
@@ -7,8 +7,11 @@
 #define MAX(a, b) ((a) > (b) ? (a) : (b))
 #endif
 
-// #define n 3
-static const int n = 3;
+#ifdef _MSC_VER
+#define n 3
+#else
+static int n = 3;
+#endif
 
 static double hypot2(double x, double y)
 {
diff --git a/nav2_amcl/src/pf/pf.c b/nav2_amcl/src/pf/pf.c
index 664fd44a135..851e63b64e2 100644
--- a/nav2_amcl/src/pf/pf.c
+++ b/nav2_amcl/src/pf/pf.c
@@ -35,6 +35,8 @@
 #include "nav2_amcl/pf/pf_pdf.hpp"
 #include "nav2_amcl/pf/pf_kdtree.hpp"
 
+#include "portable_utils.h"
+
 
 // Compute the required number of samples, given that there are k bins
 // with samples in them.
diff --git a/nav2_amcl/src/pf/pf_pdf.c b/nav2_amcl/src/pf/pf_pdf.c
index b6a1d13cdab..858bea7df88 100644
--- a/nav2_amcl/src/pf/pf_pdf.c
+++ b/nav2_amcl/src/pf/pf_pdf.c
@@ -34,6 +34,8 @@
 
 #include "nav2_amcl/pf/pf_pdf.hpp"
 
+#include "portable_utils.h"
+
 // Random number generator seed value
 static unsigned int pf_pdf_seed;
 
diff --git a/nav2_amcl/src/pf/pf_vector.c b/nav2_amcl/src/pf/pf_vector.c
index a38c4e9994f..29e183749e8 100644
--- a/nav2_amcl/src/pf/pf_vector.c
+++ b/nav2_amcl/src/pf/pf_vector.c
@@ -53,7 +53,7 @@ int pf_vector_finite(pf_vector_t a)
   int i;
 
   for (i = 0; i < 3; i++) {
-    if (!finite(a.v[i])) {
+    if (!isfinite(a.v[i])) {
       return 0;
     }
   }
@@ -152,7 +152,7 @@ int pf_matrix_finite(pf_matrix_t a)
 
   for (i = 0; i < 3; i++) {
     for (j = 0; j < 3; j++) {
-      if (!finite(a.m[i][j])) {
+      if (!isfinite(a.m[i][j])) {
         return 0;
       }
     }
diff --git a/nav2_amcl/src/sensors/CMakeLists.txt b/nav2_amcl/src/sensors/CMakeLists.txt
index 56c3a382bf7..e105675cbf4 100644
--- a/nav2_amcl/src/sensors/CMakeLists.txt
+++ b/nav2_amcl/src/sensors/CMakeLists.txt
@@ -4,11 +4,12 @@ add_library(sensors_lib SHARED
   laser/likelihood_field_model.cpp
   laser/likelihood_field_model_prob.cpp
 )
-target_link_libraries(sensors_lib pf_lib)
+# map_update_cspace
+target_link_libraries(sensors_lib pf_lib map_lib)
 
 install(TARGETS
   sensors_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
diff --git a/nav2_amcl/src/sensors/laser/laser.cpp b/nav2_amcl/src/sensors/laser/laser.cpp
index b19e83607d3..9059179874d 100644
--- a/nav2_amcl/src/sensors/laser/laser.cpp
+++ b/nav2_amcl/src/sensors/laser/laser.cpp
@@ -23,7 +23,6 @@
 #include <math.h>
 #include <stdlib.h>
 #include <assert.h>
-#include <unistd.h>
 
 #include "nav2_amcl/sensors/laser/laser.hpp"
 
diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
index 117c2629d5e..a2d70feb289 100644
--- a/nav2_behavior_tree/CMakeLists.txt
+++ b/nav2_behavior_tree/CMakeLists.txt
@@ -110,7 +110,7 @@ install(TARGETS ${library_name}
                 ${plugin_libs}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
index 3f56c116a1e..da362c91068 100644
--- a/nav2_bt_navigator/CMakeLists.txt
+++ b/nav2_bt_navigator/CMakeLists.txt
@@ -60,9 +60,13 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_bt_navigator/src/ros_topic_logger.cpp b/nav2_bt_navigator/src/ros_topic_logger.cpp
index 192318d2f76..472b30d323b 100644
--- a/nav2_bt_navigator/src/ros_topic_logger.cpp
+++ b/nav2_bt_navigator/src/ros_topic_logger.cpp
@@ -39,8 +39,12 @@ void RosTopicLogger::callback(
 
   // BT timestamps are a duration since the epoch. Need to convert to a time_point
   // before converting to a msg.
+#ifndef _WIN32
   event.timestamp =
     tf2_ros::toMsg(std::chrono::time_point<std::chrono::high_resolution_clock>(timestamp));
+#else
+  event.timestamp = tf2_ros::toMsg(timestamp);
+#endif
   event.node_name = node.name();
   event.previous_status = toStr(prev_status, false);
   event.current_status = toStr(status, false);
diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake
index 61dd187cfeb..ee8555f799f 100644
--- a/nav2_common/cmake/nav2_package.cmake
+++ b/nav2_common/cmake/nav2_package.cmake
@@ -42,4 +42,16 @@ macro(nav2_package)
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
   endif()
+
+  # Defaults for Microsoft C++ compiler
+  if(MSVC)
+    # https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
+    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+    # Enable Math Constants
+    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+    add_compile_definitions(
+      _USE_MATH_DEFINES
+    )
+  endif()
 endmacro()
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 90dc9fd172d..b4cb1b50d03 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -59,9 +59,13 @@ ament_target_dependencies(${executable_name}
 
 target_link_libraries(${executable_name} ${library_name})
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index ef7798137e2..11dc15e670b 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -88,7 +88,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     exit(-1);
   }
 
-  for (uint i = 0; i != controller_types_.size(); i++) {
+  for (size_t i = 0; i != controller_types_.size(); i++) {
     try {
       nav2_core::Controller::Ptr controller =
         lp_loader_.createUniqueInstance(controller_types_[i]);
@@ -105,7 +105,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     }
   }
 
-  for (uint i = 0; i != controller_ids_.size(); i++) {
+  for (size_t i = 0; i != controller_ids_.size(); i++) {
     controller_ids_concat_ += controller_ids_[i] + std::string(" ");
   }
 
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index abd70ac4619..8f3262b8a69 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -131,13 +131,17 @@ target_link_libraries(nav2_costmap_2d
 
 install(TARGETS
   nav2_costmap_2d_core
-  nav2_costmap_2d
   layers
   nav2_costmap_2d_client
-  nav2_costmap_2d_markers
-  nav2_costmap_2d_cloud
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  nav2_costmap_2d
+  nav2_costmap_2d_markers
+  nav2_costmap_2d_cloud
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
index 489e73fa7b1..4641d0b5471 100644
--- a/nav2_dwb_controller/costmap_queue/CMakeLists.txt
+++ b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -45,7 +45,7 @@ endif()
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/
diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
index cec51d5f9b2..3b58ccfeb32 100644
--- a/nav2_dwb_controller/dwb_core/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -58,7 +58,7 @@ ament_target_dependencies(dwb_core
 install(TARGETS dwb_core
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
index b892eb7d289..7b7cb8c70d3 100644
--- a/nav2_dwb_controller/dwb_critics/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -60,7 +60,7 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/
diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
index 64348944b5f..ea4d7868eaa 100644
--- a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -63,7 +63,7 @@ endif()
 install(TARGETS simple_goal_checker stopped_goal_checker standard_traj_generator
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
index 6dbe3d3019e..06bb2a5a193 100644
--- a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -46,7 +46,7 @@ ament_target_dependencies(path_ops
 install(TARGETS conversions path_ops
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
-        RUNTIME DESTINATION lib/${PROJECT_NAME}
+        RUNTIME DESTINATION bin
 )
 install(DIRECTORY include/
         DESTINATION include/
diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
index c68e636f29a..b349a921b9f 100644
--- a/nav2_lifecycle_manager/CMakeLists.txt
+++ b/nav2_lifecycle_manager/CMakeLists.txt
@@ -57,10 +57,14 @@ ament_target_dependencies(lifecycle_manager
 )
 
 install(TARGETS
-  lifecycle_manager
   ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  lifecycle_manager
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
index a8ba50e6c05..92437424863 100644
--- a/nav2_map_server/CMakeLists.txt
+++ b/nav2_map_server/CMakeLists.txt
@@ -88,6 +88,11 @@ target_link_libraries(${library_name}
 target_link_libraries(${map_server_executable}
   ${library_name})
 
+if(WIN32)
+  target_compile_definitions(${map_server_executable} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
 target_link_libraries(${map_saver_cli_executable}
   ${library_name})
 
@@ -100,10 +105,19 @@ target_include_directories(${map_io_library_name} SYSTEM PRIVATE
 target_link_libraries(${map_io_library_name}
   ${GRAPHICSMAGICKCPP_LIBRARIES})
 
-install(TARGETS ${map_server_executable} ${library_name} ${map_io_library_name}
-  ${map_saver_cli_executable} ${map_saver_server_executable}
+if(WIN32)
+  target_compile_definitions(${map_io_library_name} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
+install(TARGETS
+    ${library_name} ${map_io_library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS
+    ${map_server_executable} ${map_saver_cli_executable} ${map_saver_server_executable}
   RUNTIME DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY include/
diff --git a/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake b/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
index 37a2fbfb74d..c04356b4aa8 100644
--- a/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
+++ b/nav2_map_server/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
@@ -26,9 +26,9 @@ find_path(GRAPHICSMAGICKCPP_INCLUDE_DIRS
   PATH_SUFFIXES GraphicsMagick)
 
 find_library(GRAPHICSMAGICKCPP_LIBRARIES
-  NAMES "GraphicsMagick++")
+  NAMES "GraphicsMagick++" "graphicsmagick")
 
 find_package_handle_standard_args(
   GRAPHICSMAGICKCPP
-  GRAPHICSMAGICKCPP__LIBRARIES
+  GRAPHICSMAGICKCPP_LIBRARIES
   GRAPHICSMAGICKCPP_INCLUDE_DIRS)
\ No newline at end of file
diff --git a/nav2_map_server/src/map_io.cpp b/nav2_map_server/src/map_io.cpp
index 3179a46df67..6941b354fe7 100644
--- a/nav2_map_server/src/map_io.cpp
+++ b/nav2_map_server/src/map_io.cpp
@@ -31,7 +31,9 @@
 
 #include "nav2_map_server/map_io.hpp"
 
+#ifndef _WIN32
 #include <libgen.h>
+#endif
 #include <iostream>
 #include <string>
 #include <vector>
@@ -45,6 +47,44 @@
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2/LinearMath/Quaternion.h"
 
+#ifdef _WIN32
+// https://github.com/rtv/Stage/blob/master/replace/dirname.c
+static
+char * dirname(char * path)
+{
+  static const char dot[] = ".";
+  char * last_slash;
+
+  if (path == NULL) {
+    return path;
+  }
+
+  /* Find last '/'.  */
+  last_slash = path != NULL ? strrchr(path, '/') : NULL;
+
+  if (last_slash != NULL && last_slash == path) {
+    /* The last slash is the first character in the string.  We have to
+       return "/".  */
+    ++last_slash;
+  } else if (last_slash != NULL && last_slash[1] == '\0') {
+    /* The '/' is the last character, we have to look further.  */
+    last_slash = reinterpret_cast<char *>(memchr(path, last_slash - path, '/'));
+  }
+
+  if (last_slash != NULL) {
+    /* Terminate the path.  */
+    last_slash[0] = '\0';
+  } else {
+    /* This assignment is ill-designed but the XPG specs require to
+       return a string containing "." in any case no directory part is
+       found and so a static and constant string is required.  */
+    path = reinterpret_cast<char *>(dot);
+  }
+
+  return path;
+}
+#endif
+
 namespace nav2_map_server
 {
 using nav2_util::geometry_utils::orientationAroundZAxis;
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index 1315b65ed5a..ab4815b016d 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -60,7 +60,7 @@ pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)
 install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index 4012f40b9dd..69f4d571567 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -67,9 +67,13 @@ ament_target_dependencies(${executable_name}
 # prevent pluginlib from using boost
 target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 97d33b33fe2..dbb159d730f 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -90,7 +90,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
     exit(-1);
   }
 
-  for (uint i = 0; i != plugin_types_.size(); i++) {
+  for (size_t i = 0; i != plugin_types_.size(); i++) {
     try {
       nav2_core::GlobalPlanner::Ptr planner =
         gp_loader_.createUniqueInstance(plugin_types_[i]);
@@ -107,7 +107,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
     }
   }
 
-  for (uint i = 0; i != plugin_types_.size(); i++) {
+  for (size_t i = 0; i != plugin_types_.size(); i++) {
     planner_ids_concat_ += plugin_ids_[i] + std::string(" ");
   }
 
diff --git a/nav2_recoveries/CMakeLists.txt b/nav2_recoveries/CMakeLists.txt
index 6b0def011ed..01849b8c119 100644
--- a/nav2_recoveries/CMakeLists.txt
+++ b/nav2_recoveries/CMakeLists.txt
@@ -103,13 +103,17 @@ ament_target_dependencies(${executable_name}
   ${dependencies}
 )
 
-install(TARGETS ${executable_name}
-                ${library_name}
+
+install(TARGETS ${library_name}
                 nav2_backup_recovery
                 nav2_spin_recovery
                 nav2_wait_recovery
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_recoveries/src/recovery_server.cpp b/nav2_recoveries/src/recovery_server.cpp
index a4caa363d88..ecd23d4481f 100644
--- a/nav2_recoveries/src/recovery_server.cpp
+++ b/nav2_recoveries/src/recovery_server.cpp
@@ -88,7 +88,7 @@ RecoveryServer::loadRecoveryPlugins()
 {
   auto node = shared_from_this();
 
-  for (uint i = 0; i != plugin_names_.size(); i++) {
+  for (size_t i = 0; i != plugin_names_.size(); i++) {
     try {
       RCLCPP_INFO(
         get_logger(), "Creating recovery plugin %s of type %s",
diff --git a/nav2_system_tests/src/planning/planner_tester.hpp b/nav2_system_tests/src/planning/planner_tester.hpp
index 6a411050e7f..2e47a84be5c 100644
--- a/nav2_system_tests/src/planning/planner_tester.hpp
+++ b/nav2_system_tests/src/planning/planner_tester.hpp
@@ -50,7 +50,7 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer
   void printCostmap()
   {
     // print costmap for debug
-    for (uint i = 0; i != costmap_->getSizeInCellsX() * costmap_->getSizeInCellsY(); i++) {
+    for (size_t i = 0; i != costmap_->getSizeInCellsX() * costmap_->getSizeInCellsY(); i++) {
       if (i % costmap_->getSizeInCellsX() == 0) {
         std::cout << "" << std::endl;
       }
diff --git a/nav2_util/src/CMakeLists.txt b/nav2_util/src/CMakeLists.txt
index ec62f855677..bd903ef6d19 100644
--- a/nav2_util/src/CMakeLists.txt
+++ b/nav2_util/src/CMakeLists.txt
@@ -37,9 +37,13 @@ target_link_libraries(dump_params ${Boost_PROGRAM_OPTIONS_LIBRARY})
 
 install(TARGETS
   ${library_name}
-  lifecycle_bringup
-  dump_params
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  lifecycle_bringup
+  dump_params
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/nav2_util/src/dump_params.cpp b/nav2_util/src/dump_params.cpp
index b47c6815b75..34672f2b210 100644
--- a/nav2_util/src/dump_params.cpp
+++ b/nav2_util/src/dump_params.cpp
@@ -388,6 +388,14 @@ validate(
   boost::any_cast<option_sequence<T> &>(v).values.swap(result);
 }
 
+#ifdef _WIN32
+static const char * basename(const char * filepath)
+{
+  const char * base = std::strrchr(filepath, '/');
+  return base ? (base + 1) : filepath;
+}
+#endif
+
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
index fe5d7fe753a..4b88a87d86a 100644
--- a/nav2_voxel_grid/CMakeLists.txt
+++ b/nav2_voxel_grid/CMakeLists.txt
@@ -25,7 +25,7 @@ ament_target_dependencies(voxel_grid
 install(TARGETS voxel_grid
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )
 
 install(DIRECTORY include/
diff --git a/nav2_voxel_grid/src/voxel_grid.cpp b/nav2_voxel_grid/src/voxel_grid.cpp
index 4eca35f317d..c41bc40533c 100644
--- a/nav2_voxel_grid/src/voxel_grid.cpp
+++ b/nav2_voxel_grid/src/voxel_grid.cpp
@@ -35,7 +35,6 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 #include <nav2_voxel_grid/voxel_grid.hpp>
-#include <sys/time.h>
 
 namespace nav2_voxel_grid
 {
diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt
index d7b54602619..71925e74b50 100644
--- a/nav2_waypoint_follower/CMakeLists.txt
+++ b/nav2_waypoint_follower/CMakeLists.txt
@@ -49,9 +49,13 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 978ecb834c0..dd08a89d599 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -126,7 +126,7 @@ WaypointFollower::followWaypoints()
     static_cast<int>(goal->poses.size()));
 
   rclcpp::Rate r(loop_rate_);
-  uint goal_index = 0;
+  uint32_t goal_index = 0;
   bool new_goal = true;
 
   while (rclcpp::ok()) {